Zusammenfassung
This paper introduces an innovative method for the programming of welding robots in the area of steel volume structure production. The objectives of this programming method are reducing the effort of creating robot programs as well as increasing productivity in production. Starting point of the programming method is a three-dimensional digitalization of the current workpiece. Based on the 3D sensor data of the workpiece the individual components of the construction are identified automatically as well as the weld seams required for connecting them. In this process, 3D sensor data of the components are transformed into simplified regular geometric shapes that will be used later on for collision testing. Collision testing is part of a postprocessor with specially developed path planning algorithms to determine the robot movements required for welding the identified seams. Finally, the robot movements are converted into a system-specific robot program. The developed programming method has been integrated into an existing production facility at Warnow shipyard in Rostock-Warnemünde and was tested under real production conditions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Literatur
Boekholt, R.: Welding mechanization and automation in shipbuilding worldwide. Abington Publishing, Cambridge (1996)
Collberg, M., Schmidt, B., Steinberger, J.: Lösung für die Offline-Programmierung von Schweißrobotern im Schiffbau. In: DVS-Berichte Band 176, DVS-Verlag, Düsseldorf (1996)
Holamo, O. P., Ruottu, K.: Machine Vision System-Aided Robot Welding of Micropanels. In: DVS-Berichte Band 237, pp. 516-519. DVS-Verlag, Düsseldorf (2005)
Ang Jr, M. H., Lin, W., Lim, S.-Y.: A walk-through programmed robot for welding in shipyards. Industrial Robot: An International Journal 26(5), 377-388 (1999)
Zych, A.: Automatische Programmierung von Schweißrobotern in der schiffbaulichen Mikropaneelfertigung auf Grundlage von 3D-Sensordaten. Universität Rostock, Rostock (2010)
Gilliland, M. T.: Method and apparatus for determining the configuration of a workpiece. United States Patent 5,999,642 (1999)
Veikkolainen, M., Säikkö, J.: Welding arrangement and method. European Patent 1 188 510 A2 (2002)
Wanner, M., Zych, A., Pfletscher, U.: Method and device for controlling robots for welding workpieces. International Patent WO 2008/101737 A1 (2008)
Wanner, M., Zych, A., Pfletscher, U.: Automatic Robot Programming System for Welding Robots in Micro-panel Production. In: Schiffbauforschung 47(1), pp. 39-48 (2008)
Ahn, S. J.: Least Squares Orthogonal Distance Fitting of Curves and Surfaces in Space. Springer Verlag, Berlin Heidelberg (2004)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer-Verlag GmbH Deutschland, ein Teil von Springer Nature
About this paper
Cite this paper
Harmel, A., Zych, A. (2018). Sensor-Based Robot Programming for Automated Manufacturing of High Orthogonal Volume Structures. In: Schüppstuhl, T., Tracht, K., Franke, J. (eds) Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter. Springer Vieweg, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-56714-2_11
Download citation
DOI: https://doi.org/10.1007/978-3-662-56714-2_11
Published:
Publisher Name: Springer Vieweg, Berlin, Heidelberg
Print ISBN: 978-3-662-56713-5
Online ISBN: 978-3-662-56714-2
eBook Packages: Computer Science and Engineering (German Language)